embedded/freertos-STM32F103ZET6
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Add cylinder control and material 1 picking function: 1. Add PG8 pin for cylinder control (close=1, open=0) 2. Fix material positions distances 3. Fix material 3 direction (right) 4. Add Machine_PickMaterial1() function 5. Auto execute picking after reaching center in main.c

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yankun
2026-02-09 14:50:45 +08:00
parent 069097a0b9
commit 4f62d6e58d
3 changed files with 564 additions and 470 deletions
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23
Core/Src/main.c
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@@ -22,7 +22,7 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "machine.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -101,9 +101,14 @@ int main(void)
/* Power-on initialization: Move stepper motor to origin from any position */
if (Machine_MoveToOrigin() == 0)
{
/* 成功到达原点，移动到中心点（中心点就是原点位置） */
/* Successfully reached origin, move to center (center is the origin position) */
Machine_MoveToCenter();
/* 成功到达原点，移动到中心点 */
/* Successfully reached origin, move to center */
if (Machine_MoveToCenter() == 0)
{
/* 成功到达中心点，执行1#料取料流程 */
/* Successfully reached center, execute material 1 picking process */
Machine_PickMaterial1();
}
}
else
{
@@ -224,6 +229,9 @@ static void MX_GPIO_Init(void)
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOG, GPIO_PIN_9, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOG, GPIO_PIN_8, GPIO_PIN_RESET);
/*Configure GPIO pin : PD7 */
GPIO_InitStruct.Pin = GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
@@ -238,6 +246,13 @@ static void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
/*Configure GPIO pin : PG8 */
GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
/*Configure GPIO pin : PG15 */
GPIO_InitStruct.Pin = GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;